The RoboCup Small-Size robot soccer League (SSL) is a research domain to study multi-robot planning and execution under the uncertainty of real-time perception and motion in an adversarial environment. The RoboCup SSL is set as a soccer game between two teams of six robots each, playing with an orange golf ball in a field of predefined size with line markings. The top of each robot is a unique colored-coded pattern to enable a set of overhead cameras, running the shared SSL-Vision algorithm, to determine the position and orientation of each robot. The perceived pose of the robots and the position of the ball are passed to each team's offboard computers that then plan for the team strategy and communicate by radio the computed position of each robot. The complete cycle of perception, planning, and actuation is hence fully autonomous. The rules of the game are dictated by a referee, as of now a human, but research pursues on automated refereeing. The centralized perception, offboard computation, and the team-built robots with pre-specified size and shape constraints, set the RoboCup SSL apart from the other RoboCup soccer leagues. The research focus is on teamwork, including positioning and ball passing, rather than on single robot issues, such as localization, as present and challenging in the other leagues. The RoboCup SSL games are very fast and dynamic, as can be seen in videos of our games (see Multi-Media).
Our Carnegie Mellon University RoboCup SSL teams are led by Professor Manuela Veloso, and have participated in the competition since the first RoboCup in 1997. Our teams, with different groups of students along the years, have won the competition four times (1997, 1998, 2006, 2007), and achieved second place four times (2008, 2010, 2013, 2014), making us the current leader of the RoboCup Robot Soccer Small Size League Hall of Fame.